The invention provides a complex road surface anti-skid method and device and a mining vehicle, the method comprises the steps that the real-time slip rate of the vehicle and the real-time adhesion coefficient of the road surface where the vehicle is located are obtained, the real-time slip rate is used for representing vehicle speed loss caused by slip, the real-time adhesion coefficient is the ratio of adhesive force to normal pressure of wheels, and the real-time adhesion coefficient is used for representing the vehicle speed loss caused by slip; the normal pressure is a force perpendicular to the stress surface of the wheel; optimizing the real-time slip rate and the real-time adhesion coefficient through an FCM algorithm to obtain an optimal slip rate; calculating slip rate deviation according to the optimal slip rate and the real-time slip rate; under the condition that the slip rate deviation is not within the preset range, an improved PID algorithm is adopted to calculate the target torque of an output motor of the vehicle; and controlling the output motor to operate according to the target torque. The method solves the problem that an existing anti-skid method is insufficient in algorithm precision.

    本申请提供了一种复杂路面防滑方法、防滑装置和矿用车辆,该方法包括:获取车辆的实时滑转率和车辆所处路面的实时附着系数,实时滑转率用于表征因滑转引起的车辆速度损失,实时附着系数为附着力与车轮的法向压力的比值,法向压力为垂直于车轮受力面的力;通过FCM算法对实时滑转率和实时附着系数进行寻优,得到最优滑转率;根据最优滑转率和实时滑转率,计算滑转率偏差;在滑转率偏差不在预设范围内的情况下,采用改进PID算法计算车辆的输出电机的目标转矩;根据目标转矩,控制输出电机运转。该方法解决了现有防滑方法算法精度不够的问题。


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    Title :

    Complex road surface anti-skid method, anti-skid device and mining vehicle


    Additional title:

    复杂路面防滑方法、防滑装置和矿用车辆


    Contributors:
    GUO AIJUN (author) / GU LIDONG (author) / ZHANG ZILONG (author) / CHEN YUE (author) / HAN FEI (author) / ZHAO XIANG (author)

    Publication date :

    2023-09-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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